Supercomputing Systems AG Phone +41 43 456 16 00

Technopark 1 Fax +41 43 456 16 10

8005 Zürich www.scs.ch

Vision trifft Realität.

Will robots drive our

cars soon?

Driver assistant systems with FPGA und DSP

Felix Eberli, Department Head, SCS

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Futuristic ideas already 1956

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Driverless car in the 1980’s

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DARPA Challenge – 11.9km after start (5%)

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DARPA Urban Challenge 2007

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Mercedes Benz Versuchsfahrzeug 2013

S-500 “Bertha”

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Google car with laserscanner (2014)

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Tesla Auto Pilot (2015)

https://www.teslamotors.com/de_CH/blog/your-autopilot-has-arrived

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Will robots drive our cars soon?

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But already in series as many driver assistant systems

• ADC (Distronic)

• Blind spot detection

• Break assist

• Pedestrian detection

• Park pilot

• Stop & Go Pilot

• Highway Pilot

• ….

• Lets see

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Sensor View – Radar and Stereo

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SCS company profile

• Founded 1993 and privately owned by Prof. Dr. Anton Gunzinger

• 90+ employees:

Electrical engineers

Software engineers

Physicists

Mathematicians

• Company offices at Technopark Zurich, Switzerland

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SCS Services

Departments

• Embedded & Automotive

• Life Science / Medical

• High Performance Safety

• Embedded

• High Performance Computing

• SW / Public Transport

• SW / Broadcast

• Measure & Decide

Embedded & Automotive

• Feasibility studies

• Hardware (Specification, Design, Schematics, Layout, Production)

• Firmware/IP (FPGA, DSP)

• Software (Drivers, Host SW – Windows/Linux)

• Optimizations (ARM, DSP, EVE, Neon)

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SCS Embedded & Automotive Department

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Why autonomous driving? - Traffic Must Become Safer

50% of all accidents with injured occur

in urban environments.

CH: 269 fatalities in 2014

0

5000

10000

15000

20000

0

100000

200000

300000

400000

500000

600000

1970 1980 1990 2000 2010

4002

391.000

Injured/ Year

Fatalities / Year

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The Principle of Stereo Vision

Left Image Right ImageDisparity Image

Challenge: on-line calibration to guarantee

perfect results for the whole lifetime of the car.

Color encoded distance:

close ….. far

H.Hirschmüller: "Accurate and Efficient Stereo Processing by Semi-Global Matching and Mutual

Information", DAGM 2005, CVPR 2005

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The Principle of Stereo Vision

2008 world-wide first real-time

implementation of Semi-Global

Matching on an automotive compliant

FPGA

S.Gehrig, F.Eberli, T.Meyer, “A Real-time Low-Power Stereo Vision Engine Using Semi-Global

Matching”,

ICVS 2009 (Best Paper Award)

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Local Stereo vs. Daimler Global Stereo

Advantages of Daimler-Stereo Semi-Global Matching (SGM)

Significantly more 3D measurents

Significantly fewer Measurement errors in low-contrast regions

robust against periodic structures

SGMCorrelation

Color encoded distance:

close ….. far

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Stereo Results in Real-Time

Baseline 25cm, 45° horizontal field of view

Color encoded distance:

close ….. far

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Sensors in Modern Cars

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Comparison Tesla – Daimler Sensors (2014)

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Is Stereo-Based Driver Assistance a Solved Problem?

If we want Vision to become an all-day all-night sensor for safety

critical systems, we should be able to work under those adverse

conditions!

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Current research focuses

on a deeper understanding of the scene

• https://www.cityscapes-dataset.com/examples/

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Outlook Self Driving Cars – Additional Links

• BMW kündigt selbstlenkende Fahrzeuge für 2021 anhttp://www.zdnet.de/88269245/bmw-kuendigt-selbstlenkende-fahrzeuge-fuer-2021-an/

• Sieben Firmen testen zurzeit selbstlenkende Autos auf Kaliforniens Straßen

• Mercedes Future Truck 2025

• Chris Urmson – Google Director Self-Driving-Carshttps://youtu.be/Uj-rK8V-rik

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Aktuele Ankündigungen

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Baby you can drive my car…

Source: https://youtu.be/H0jJAPvN2uI?t=18

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SCS Stereo Vision Evaluation Plattform

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Output of the SCS Stereo Vision Evaluation Plattform

More info: www.scs.ch/fpgabox

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Example measurement accuracy 3:

Distance measured = 10.549m +/- 0.022m (Baselength = 25cm)

Supercomputing Systems AG Phone +41 43 456 16 00

Technopark 1 Fax +41 43 456 16 10

8005 Zürich www.scs.ch

Vision meets reality.

Supercomputing Systems AG

felix.eberli@scs.ch +41 43 456 16 19